MelsecMcNet.cs
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using HslCommunication.BasicFramework;
using HslCommunication.Core;
using HslCommunication.Core.Address;
using HslCommunication.Core.IMessage;
using HslCommunication.Core.Net;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace HslCommunication.Profinet.Melsec
{
/// <summary>
/// 三菱PLC通讯类，采用Qna兼容3E帧协议实现，需要在PLC侧先的以太网模块先进行配置，必须为二进制通讯
/// </summary>
/// <remarks>
/// 目前组件测试通过的PLC型号列表，有些来自于网友的测试
/// <list type="number">
/// <item>Q06UDV PLC 感谢hwdq0012</item>
/// <item>fx5u PLC 感谢山楂</item>
/// <item>Q02CPU PLC </item>
/// <item>L02CPU PLC </item>
/// </list>
/// 地址的输入的格式说明如下：
/// <list type="table">
/// <listheader>
/// <term>地址名称</term>
/// <term>地址代号</term>
/// <term>示例</term>
/// <term>地址进制</term>
/// <term>字操作</term>
/// <term>位操作</term>
/// <term>备注</term>
/// </listheader>
/// <item>
/// <term>内部继电器</term>
/// <term>M</term>
/// <term>M100,M200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>输入继电器</term>
/// <term>X</term>
/// <term>X100,X1A0</term>
/// <term>16</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>输出继电器</term>
/// <term>Y</term>
/// <term>Y100,Y1A0</term>
/// <term>16</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>锁存继电器</term>
/// <term>L</term>
/// <term>L100,L200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>报警器</term>
/// <term>F</term>
/// <term>F100,F200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>边沿继电器</term>
/// <term>V</term>
/// <term>V100,V200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>链接继电器</term>
/// <term>B</term>
/// <term>B100,B1A0</term>
/// <term>16</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>步进继电器</term>
/// <term>S</term>
/// <term>S100,S200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>数据寄存器</term>
/// <term>D</term>
/// <term>D1000,D2000</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>链接寄存器</term>
/// <term>W</term>
/// <term>W100,W1A0</term>
/// <term>16</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>文件寄存器</term>
/// <term>R</term>
/// <term>R100,R200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>ZR文件寄存器</term>
/// <term>ZR</term>
/// <term>ZR100,ZR2A0</term>
/// <term>16</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>变址寄存器</term>
/// <term>Z</term>
/// <term>Z100,Z200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>定时器的触点</term>
/// <term>TS</term>
/// <term>TS100,TS200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>定时器的线圈</term>
/// <term>TC</term>
/// <term>TC100,TC200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>定时器的当前值</term>
/// <term>TN</term>
/// <term>TN100,TN200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>累计定时器的触点</term>
/// <term>SS</term>
/// <term>SS100,SS200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>累计定时器的线圈</term>
/// <term>SC</term>
/// <term>SC100,SC200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>累计定时器的当前值</term>
/// <term>SN</term>
/// <term>SN100,SN200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// <item>
/// <term>计数器的触点</term>
/// <term>CS</term>
/// <term>CS100,CS200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>计数器的线圈</term>
/// <term>CC</term>
/// <term>CC100,CC200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>√</term>
/// <term></term>
/// </item>
/// <item>
/// <term>计数器的当前值</term>
/// <term>CN</term>
/// <term>CN100,CN200</term>
/// <term>10</term>
/// <term>√</term>
/// <term>×</term>
/// <term></term>
/// </item>
/// </list>
/// </remarks>
/// <example>
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="Usage" title="简单的短连接使用" />
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="Usage2" title="简单的长连接使用" />
/// </example>
public class MelsecMcNet : NetworkDeviceBase<MelsecQnA3EBinaryMessage, RegularByteTransform>
{
#region Constructor
/// <summary>
/// 实例化三菱的Qna兼容3E帧协议的通讯对象
/// </summary>
public MelsecMcNet()
{
WordLength = 1;
}
/// <summary>
/// 实例化一个三菱的Qna兼容3E帧协议的通讯对象
/// </summary>
/// <param name="ipAddress">PLC的Ip地址</param>
/// <param name="port">PLC的端口</param>
public MelsecMcNet(string ipAddress, int port)
{
WordLength = 1;
IpAddress = ipAddress;
Port = port;
}
#endregion
#region Public Member
/// <summary>
/// 网络号，通常为0
/// </summary>
/// <remarks>
/// 依据PLC的配置而配置，如果PLC配置了1，那么此处也填0，如果PLC配置了2，此处就填2，测试不通的话，继续测试0
/// </remarks>
public byte NetworkNumber { get; set; } = 0x00;
/// <summary>
/// 网络站号，通常为0
/// </summary>
/// <remarks>
/// 依据PLC的配置而配置，如果PLC配置了1，那么此处也填0，如果PLC配置了2，此处就填2，测试不通的话，继续测试0
/// </remarks>
public byte NetworkStationNumber { get; set; } = 0x00;
#endregion
#region Virtual Address Analysis
/// <summary>
/// 分析地址的方法，允许派生类里进行重写操作
/// </summary>
/// <param name="address">地址信息</param>
/// <param name="length">数据长度</param>
/// <returns>解析后的数据信息</returns>
protected virtual OperateResult<McAddressData> McAnalysisAddress(string address, ushort length)
{
return McAddressData.ParseMelsecFrom(address, length);
}
#endregion
#region Read Write Support
/// <summary>
/// 从三菱PLC中读取想要的数据，输入地址，按照字单位读取，返回读取结果
/// </summary>
/// <param name="address">读取地址，格式为"M100","D100","W1A0"</param>
/// <param name="length">读取的数据长度，字最大值960，位最大值7168</param>
/// <returns>带成功标志的结果数据对象</returns>
/// <remarks>
/// 地址支持的列表参考 <seealso cref="MelsecMcNet"/> 的备注说明
/// </remarks>
/// <example>
/// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102，D103存储了产量计数，读取如下：
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="ReadExample2" title="Read示例" />
/// 以下是读取不同类型数据的示例
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="ReadExample1" title="Read示例" />
/// </example>
public override OperateResult<byte[]> Read(string address, ushort length)
{
// 分析地址
OperateResult<McAddressData> addressResult = McAnalysisAddress(address, length);
if (!addressResult.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(addressResult);
List<byte> bytesContent = new List<byte>();
ushort alreadyFinished = 0;
while (alreadyFinished < length)
{
ushort readLength = (ushort)Math.Min(length - alreadyFinished, 900);
addressResult.Content.Length = readLength;
OperateResult<byte[]> read = ReadAddressData(addressResult.Content);
if (!read.IsSuccess) return read;
bytesContent.AddRange(read.Content);
alreadyFinished += readLength;
// 字的话就是正常的偏移位置，如果是位的话，就转到位的数据
if (addressResult.Content.McDataType.DataType == 0)
addressResult.Content.AddressStart += readLength;
else
addressResult.Content.AddressStart += readLength * 16;
}
return OperateResult.CreateSuccessResult(bytesContent.ToArray());
}
private OperateResult<byte[]> ReadAddressData(McAddressData addressData)
{
byte[] coreResult = MelsecHelper.BuildReadMcCoreCommand(addressData, false);
// 核心交互
var read = ReadFromCoreServer(PackMcCommand(coreResult, this.NetworkNumber, this.NetworkStationNumber));
if (!read.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(read);
// 错误代码验证
ushort errorCode = BitConverter.ToUInt16(read.Content, 9);
if (errorCode != 0) return new OperateResult<byte[]>(errorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 数据解析，需要传入是否使用位的参数
return ExtractActualData(SoftBasic.BytesArrayRemoveBegin(read.Content, 11), false);
}
/// <summary>
/// 向PLC写入数据，数据格式为原始的字节类型
/// </summary>
/// <param name="address">初始地址</param>
/// <param name="value">原始的字节数据</param>
/// <example>
/// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102，D103存储了产量计数，写入如下：
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="WriteExample2" title="Write示例" />
/// 以下是写入不同类型数据的示例
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="WriteExample1" title="Write示例" />
/// </example>
/// <returns>结果</returns>
public override OperateResult Write(string address, byte[] value)
{
// 分析地址
OperateResult<McAddressData> addressResult = McAnalysisAddress(address, 0);
if (!addressResult.IsSuccess) return OperateResult.CreateFailedResult<byte[]>(addressResult);
return WriteAddressData(addressResult.Content, value);
}
private OperateResult WriteAddressData(McAddressData addressData, byte[] value)
{
// 创建核心报文
byte[] coreResult = MelsecHelper.BuildWriteWordCoreCommand(addressData, value);
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(coreResult, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return read;
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult<byte[]>(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
#endregion
#region Bool Operate Support
/// <summary>
/// 从三菱PLC中批量读取位软元件，返回读取结果
/// </summary>
/// <param name="address">起始地址</param>
/// <param name="length">读取的长度</param>
/// <returns>带成功标志的结果数据对象</returns>
/// <remarks>
/// 地址支持的列表参考 <seealso cref="MelsecMcNet"/> 的备注说明
/// </remarks>
/// <example>
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="ReadBool" title="Bool类型示例" />
/// </example>
public override OperateResult<bool[]> ReadBool(string address, ushort length)
{
// 分析地址
OperateResult<McAddressData> addressResult = McAnalysisAddress(address, length);
if (!addressResult.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(addressResult);
// 获取指令
byte[] coreResult = MelsecHelper.BuildReadMcCoreCommand(addressResult.Content, true);
// 核心交互
var read = ReadFromCoreServer(PackMcCommand(coreResult, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(read);
// 错误代码验证
ushort errorCode = BitConverter.ToUInt16(read.Content, 9);
if (errorCode != 0) return new OperateResult<bool[]>(errorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 数据解析，需要传入是否使用位的参数
var extract = ExtractActualData(SoftBasic.BytesArrayRemoveBegin(read.Content, 11), true);
if (!extract.IsSuccess) return OperateResult.CreateFailedResult<bool[]>(extract);
// 转化bool数组
return OperateResult.CreateSuccessResult(extract.Content.Select(m => m == 0x01).Take(length).ToArray());
}
/// <summary>
/// 向PLC中位软元件写入bool数组，返回值说明，比如你写入M100,values[0]对应M100
/// </summary>
/// <param name="address">要写入的数据地址</param>
/// <param name="values">要写入的实际数据，可以指定任意的长度</param>
/// <example>
/// <code lang="cs" source="HslCommunication_Net45.Test\Documentation\Samples\Profinet\melsecTest.cs" region="WriteBool" title="Write示例" />
/// </example>
/// <returns>返回写入结果</returns>
public override OperateResult Write(string address, bool[] values)
{
// 分析地址
OperateResult<McAddressData> addressResult = McAnalysisAddress(address, 0);
if (!addressResult.IsSuccess) return addressResult;
byte[] coreResult = MelsecHelper.BuildWriteBitCoreCommand(addressResult.Content, values);
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(coreResult, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return read;
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult<byte[]>(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
#endregion
#region Remote Operate
/// <summary>
/// 远程Run操作
/// </summary>
/// <returns>是否成功</returns>
public OperateResult RemoteRun()
{
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(new byte[] { 0x01, 0x10, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00 }, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return read;
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
/// <summary>
/// 远程Stop操作
/// </summary>
/// <returns>是否成功</returns>
public OperateResult RemoteStop()
{
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(new byte[] { 0x02, 0x10, 0x00, 0x00, 0x01, 0x00 }, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return read;
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
/// <summary>
/// 远程Reset操作
/// </summary>
/// <returns>是否成功</returns>
public OperateResult RemoteReset()
{
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(new byte[] { 0x06, 0x10, 0x00, 0x00, 0x01, 0x00 }, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return read;
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult();
}
/// <summary>
/// 读取PLC的型号信息
/// </summary>
/// <returns>返回型号的结果对象</returns>
public OperateResult<string> ReadPlcType()
{
// 核心交互
OperateResult<byte[]> read = ReadFromCoreServer(PackMcCommand(new byte[] { 0x01, 0x01, 0x00, 0x00 }, NetworkNumber, NetworkStationNumber));
if (!read.IsSuccess) return OperateResult.CreateFailedResult<string>(read);
// 错误码校验
ushort ErrorCode = BitConverter.ToUInt16(read.Content, 9);
if (ErrorCode != 0) return new OperateResult<string>(ErrorCode, StringResources.Language.MelsecPleaseReferToManulDocument);
// 成功
return OperateResult.CreateSuccessResult(Encoding.ASCII.GetString(read.Content, 11, 16).TrimEnd());
}
#endregion
#region Object Override
/// <summary>
/// 获取当前对象的字符串标识形式
/// </summary>
/// <returns>字符串信息</returns>
public override string ToString()
{
return $"MelsecMcNet[{IpAddress}:{Port}]";
}
#endregion
#region Static Method Helper
/// <summary>
/// 将MC协议的核心报文打包成一个可以直接对PLC进行发送的原始报文
/// </summary>
/// <param name="mcCore">MC协议的核心报文</param>
/// <param name="networkNumber">网络号</param>
/// <param name="networkStationNumber">网络站号</param>
/// <returns>原始报文信息</returns>
public static byte[] PackMcCommand(byte[] mcCore, byte networkNumber = 0, byte networkStationNumber = 0)
{
byte[] _PLCCommand = new byte[11 + mcCore.Length];
_PLCCommand[0] = 0x50; // 副标题
_PLCCommand[1] = 0x00;
_PLCCommand[2] = networkNumber; // 网络号
_PLCCommand[3] = 0xFF; // PLC编号
_PLCCommand[4] = 0xFF; // 目标模块IO编号
_PLCCommand[5] = 0x03;
_PLCCommand[6] = networkStationNumber; // 目标模块站号
_PLCCommand[7] = (byte)((_PLCCommand.Length - 9) % 256); // 请求数据长度
_PLCCommand[8] = (byte)((_PLCCommand.Length - 9) / 256);
_PLCCommand[9] = 0x0A; // CPU监视定时器
_PLCCommand[10] = 0x00;
mcCore.CopyTo(_PLCCommand, 11);
return _PLCCommand;
}
/// <summary>
/// 从PLC反馈的数据中提取出实际的数据内容，需要传入反馈数据，是否位读取
/// </summary>
/// <param name="response">反馈的数据内容</param>
/// <param name="isBit">是否位读取</param>
/// <returns>解析后的结果对象</returns>
public static OperateResult<byte[]> ExtractActualData(byte[] response, bool isBit)
{
if (isBit)
{
// 位读取
byte[] Content = new byte[response.Length * 2];
for (int i = 0; i < response.Length; i++)
{
if ((response[i] & 0x10) == 0x10)
{
Content[i * 2 + 0] = 0x01;
}
if ((response[i] & 0x01) == 0x01)
{
Content[i * 2 + 1] = 0x01;
}
}
return OperateResult.CreateSuccessResult(Content);
}
else
{
// 字读取
return OperateResult.CreateSuccessResult(response);
}
}
#endregion
}
}